Difference between revisions of "IoTGateway/BSP/Android/Gettingstarted/How to use CAN Bus"

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 +
i.MX6 uses the internal FlexCAN(Flexible Controller Area Network) module implementing the CAN protocol according to the CAN 2.0B.
 +
 
=== Pin Define ===
 
=== Pin Define ===
  
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| Signal
 
| Signal
 
|-
 
|-
| 1
+
|  1
 
|  -
 
|  -
| 2
+
|  2
 
|  -
 
|  -
 
|-
 
|-
| 3
+
|  3
| CAN0_D-
+
|  CAN0_D-
| 4
+
|  4
 
|  -
 
|  -
 
|-
 
|-
| 5
+
|  5
| CAN0_D+
+
|  CAN0_D+
| 6
+
|  6
 
|  -
 
|  -
 
|-
 
|-
| 7
+
|  7
 
|  - 
 
|  - 
| 8
+
|  8
 
|  -
 
|  -
 
|-
 
|-
| 9
+
|  9
 
|  GND
 
|  GND
| 10
+
|  10
 
|  -
 
|  -
 
|}
 
|}
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=== Configuration ===
+
=== Configuration/Test ===
  
*Connection
+
==== Configuration ====
 +
 
 +
Connect CAN0 to CAN1
  
 
<tt>CAN0_D+&nbsp;</tt>connect to <tt>CAN1_D+</tt>
 
<tt>CAN0_D+&nbsp;</tt>connect to <tt>CAN1_D+</tt>
  
 
<tt>CAN0_D-&nbsp;</tt>connect to <tt>CAN1_D-</tt>
 
<tt>CAN0_D-&nbsp;</tt>connect to <tt>CAN1_D-</tt>
<pre>#candump can0&
+
<pre># ip link set can0 up type can bitrate 125000
 +
# ip link set can1 up type can bitrate 125000</pre>
 +
 
 +
 
 +
 
 +
==== Test ====
  
#cansend can1 -i 0x00 0x11 0x22 0x33 0x44 0x55 0x66 0x77 0x88</pre>
+
*Test 1
 +
<pre># candump can1 &
 +
# cansend can0 12345678#123412341234
 +
</pre>
  
<pre>
+
The following shows the result
interface = can0, family = 29, type = 3, proto = 1
+
<pre>can1  12345678  [6]  12 34 12 34 12 34
 
</pre>
 
</pre>
  
=== Test ===
+
*Test 2
 +
<pre># cansend can0 133#ababdede
 +
</pre>
  
*Test 1
+
The following shows the result
 +
<pre>can1      133  [4]  AB AB DE DE
 +
</pre>

Latest revision as of 08:18, 3 February 2017

i.MX6 uses the internal FlexCAN(Flexible Controller Area Network) module implementing the CAN protocol according to the CAN 2.0B.

Pin Define

ROM-3420

CAN0(CAN bus 0) CAN1(CAN bus 1)
 Pin  Signal  Pin Signal
 1  -  2  -
 3  CAN0_D-  4  -
 5  CAN0_D+  6  -
 7  -   8  -
 9  GND  10  -

 ROM-7421

CAN0(CAN bus 0)
 Pin  Signal  Pin  Signal
 1  -  2  CAN0_D-
 3
 4  -
 5  GND
 6  GND
 7  CAN0_D+   8  -
 9    10  -


Configuration/Test

Configuration

Connect CAN0 to CAN1

CAN0_D+ connect to CAN1_D+

CAN0_D- connect to CAN1_D-

# ip link set can0 up type can bitrate 125000
# ip link set can1 up type can bitrate 125000


Test

  • Test 1
# candump can1 &
# cansend can0 12345678#123412341234

The following shows the result

can1  12345678   [6]  12 34 12 34 12 34
  • Test 2
# cansend can0 133#ababdede

The following shows the result

can1       133   [4]  AB AB DE DE